人間の器用さをロボット操作で実現するために Human Inspired Dexterity in Robotic Manipulation

Watanabe, Tetsuyou (EDT)/ Harada, Kensuke (EDT)/ Tada, Mitsunori (EDT)

Academic Press Inc（2018/06発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 218 p.
• 言語 ENG
• 商品コード 9780128133859
• DDC分類 629.892

Full Description

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation.

This book is ideal for the research communities in robotics, mechatronics and automation.

Contents

1. Underactuated Hand Exoskeleton-simple, compact and low-cost design to support grasping motion in ADL
2. Human Motor Performance in Robot-Assisted Surgery
3. Approaching human hand dexterity through highly biomimetic design
4. A neural basis of hand muscle synergy
5. Dynamic Manipulation based on thumb opposability
6. Robust grasping and manipulation against uncertainty of sensing information: One of applications of thumb opposability based controller
7. Planning Dexterous Dual-arm M